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Carnegie Mellon Robotics Institute

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Abstract

The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.

Keywords

surgery, medical robotics, needle steering, urology, kidney, access

Notes

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Needle Steering for Brain Surgery

Text Reference

Nathan Wood, Khaled Shahrour, Michael C. Ost, and Cameron Riviere, "Needle steering system using duty-cycled rotation for percutaneous kidney access," Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 5432-5435.

BibTeX Reference

@inproceedings{Wood_2010_6703,
   author = "Nathan Wood and Khaled Shahrour and Michael C. Ost and Cameron Riviere",
   title = "Needle steering system using duty-cycled rotation for percutaneous kidney access",
   booktitle = "Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "5432-5435",
   month = "September",
   year = "2010",
}

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